www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/ComputeTheGeometricJacobianForARobotConfigurationExample.m

    %% Geometric Jacobian for Robot Configuration
% Calculate the geometric Jacobian for a specific
% end effector and configuration of a robot.
%%
% Load example robots as |RigidBodyTree| objects.
load exampleRobots.mat

%%
% Calculate the geometric Jacobian of body |'L6'| on the Puma robot for a 
% random configuration.
geoJacob = geometricJacobian(puma1,randomConfiguration(puma1),'L6')